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All Journal Jurnal Teknosains Jurnal Elektronika dan Telekomunikasi
Nami, Osen Fili
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Biochemistry, Genetics & Molecular Biology Civil Engineering, Building, Construction & Architecture Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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Performance Comparison of PID, FOPID, and NN-PID Controller for AUV Steering Problem Nami, Osen Fili; Widaryanto, Afif; Rasuanta, Muhammad Putra; Pramudya, Tinova; Firdaus, Muhammad Yusha; Widati, Peni Laksmita; Anggraeni, Sakinah Puspa; Dwiyanti, Hanifah; Rahmadiansyah, Maristya; Purwoadi, Michael Andreas; Rahardjo, Sasono; Lubis, Teddy Alhady
Jurnal Elektronika dan Telekomunikasi Vol 24, No 1 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/jet.596

Abstract

This study examines and compares three Autonomous Underwater Vehicles (AUV) steering control techniques utilizing the following three control algorithms: Proportional-Integral-Derivative (PID), Fractional Order PID (FOIPD), and Neural Network-PID (NN-PID). The objective of this investigation is to gain a comprehensive understanding of each controller's response in terms of step input scenarios, trajectory changes, and when encountering disturbances. The response analysis will evaluate the strengths and weaknesses of the controller by examining parameters such as Rise Time, Settling Time, Settling Min, Settling Max, Overshoot, Peak, and Peak Time for each controller response. To determine the accuracy performance of each controller strategy, the root mean square error (RMSE) technique will be applied, allowing users to confidently select the most suitable controller option. FOPID displays the best settling time of 3.2218 seconds, and PID stands out in rise time, achieving 0.4725 seconds. The results indicate that NN-PID is the top performer as it reduces overshoot to 0.3022%. Among the three controllers that were tested, FOPID had the smallest RMSE value, while the NN-PID control's slower response and larger error resulted in a smaller overshoot than PID and FOPID. This factor is due to the online learning process on NN-PID, which requires time. Based on the simulation results, FOPID outperforms PID in settling time and produces the smallest error due to the inclusion of parameters λ and μ, leading to improved control performance.
MALE UAV LONGITUDINAL STABILITY DETERMINATION USING WIND TUNNEL DATA Adhynugraha, Muhammad Ilham; Megawanto, Fadli Cahya; Octaviany, Siti Vivi; Budiarti, Dewi Habsari; Muliadi, Jemie; Nami, Osen Fili; Wibowo, Singgih Satrio
Jurnal Teknosains Vol 14, No 1 (2024): December
Publisher : Universitas Gadjah Mada

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/teknosains.89420

Abstract

Unmanned aerial systems have been increasing in demand for a wide range of operations, including the rapid growth of advanced navigation and communication. One of the most important things in designing an Unmanned Aerial System (UAS) is to ensure the system's stability, such as the UAS itself. This study was conducted on an in-house medium altitude long endurance (MALE) UAS aircraft. It is focused on analyzing the longitudinal stability of MALE UAS. A mathematical approach was used to analyze the longitudinal stability.  A series of wind tunnel tests using a scaled model of the MALE UAS is done to produce several sets of data containing longitudinal stability derivatives for various configurations. A few sets of data are chosen to obtain the stability derivatives needed. These stability derivatives are utilized to determine the longitudinal motion characteristic of the aircraft. The analysis of certain derivatives and the phugoid and short-period mode shows that the aircraft is statically and dynamically stable in longitudinal motion. The results indicated that a weight change prompted an altercation in the natural frequency of the short-period mode. The response also showed that reaching a new equilibrium state takes a rather long period after an arbitrary perturbation is initiated. The time required to subdue oscillation in axial and average velocities is more than 100 seconds. The stability in the pitch rate is reached in around 65 seconds. The time to reach stability in pitch angle response is around 65 seconds.
Co-Authors Adhynugraha, Muhammad Ilham Anggraeni, Sakinah Puspa Budiarti, Dewi Habsari Dwiyanti, Hanifah Firdaus, Muhammad Yusha Lubis, Teddy Alhady Megawanto, Fadli Cahya Muliadi, Jemie Octaviany, Siti Vivi Pramudya, Tinova Purwoadi, Michael Andreas Rahmadiansyah, Maristya Rasuanta, Muhammad Putra Sasono Rahardjo, Sasono Wibowo, Singgih Satrio Widaryanto, Afif Widati, Peni Laksmita